CN102887081A - Control method for hill-start of new energy vehicle - Google Patents
Control method for hill-start of new energy vehicle Download PDFInfo
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- CN102887081A CN102887081A CN2012103698957A CN201210369895A CN102887081A CN 102887081 A CN102887081 A CN 102887081A CN 2012103698957 A CN2012103698957 A CN 2012103698957A CN 201210369895 A CN201210369895 A CN 201210369895A CN 102887081 A CN102887081 A CN 102887081A
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Abstract
The invention discloses a control method for hill-start of a new energy vehicle. The control method comprises the following steps of: 1) calculating an overall vehicle demand torque and a torque response gradient when slipping distance is S or any value less than S; and 2) adjusting a crawling torque of a motor until the overall vehicle demanded torque is greater than the crawling torque, exiting a crawling mode and responding to the overall vehicle demanded torque. The value of the slipping distance S can be set according to specific conditions of the vehicle. According to the method, the slipping distance of the vehicle can be controlled without a gradient sensor or a traction force control system; and the hill-start slipping distance of the vehicle is reduced by increasing the crawling torque of a motor system.
Description
Technical field
The present invention relates to technical field of vehicle manufacture, relate in particular to a kind of control method of uphill starting of new-energy automobile.
Background technology
In recent years, day by day serious along with energy shock in the world wide and problem of environmental pollution, people also improve gradually to the requirement of automotive energy-saving emission-reducing.New-energy automobile has been subject to people and has more and more paid close attention to its low noise, characteristics pollution-free, that energy source is diversified, energy efficiency is high, thereby has promoted the accelerated development of new-energy automobile.
But adopt at present in the motor-driven new-energy automobile, if do not have Slope Transducer or anti-slip regulation in the vehicle configuration, the phenomenon of occur slipping when then new-energy automobile is started to walk in the ramp is comparatively serious, and falls to slip distance and crash with rear car easily when long.
In sum, how making new-energy automobile in the situation that does not have Slope Transducer and anti-slip regulation, reduce the distance of falling to slip, reduce the probability that crashes with rear car, is present those skilled in the art's urgent problem.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of control method of uphill starting of new-energy automobile, the control method of the uphill starting of this new-energy automobile can make new-energy automobile in the situation that does not have Slope Transducer and anti-slip regulation, reduce the distance of falling to slip, reduce the probability that crashes with rear car.
In order to achieve the above object, the invention provides a kind of control method of uphill starting of new-energy automobile, comprise step:
1) calculating car load demand torque and the distance of falling to slip is S or the torque responsive gradient during less than arbitrary value of S;
2) the crawling moment of torsion of adjustment motor, until the car load demand torque greater than the crawling moment of torsion, withdraws from the crawling pattern, response car load demand torque.
Preferably, also comprise step before the step 1):
Judge whether motor operates in the second quadrant or fourth quadrant, if so, enters step 1), if not, then adjust the crawling moment of torsion of motor, until the car load demand torque greater than the crawling moment of torsion, withdraws from the crawling pattern, response car load demand torque;
When motor operated in the second quadrant, the output torque of motor was for just, and rotating speed is for negative;
When motor operated in fourth quadrant, the output torque of motor was for negative, and rotating speed is for just.
Preferably, adjust the crawling moment of torsion of motor, until the car load demand torque greater than the crawling moment of torsion, withdraws from the crawling pattern, response car load demand torque specifically comprises:
Whether judge the car load demand torque greater than the crawling moment of torsion,
If so, then withdraw from the crawling pattern, response car load demand torque;
If not, judge that then the rotating speed of motor of new-energy automobile is whether greater than setting rotating speed, if the rotating speed of motor is when setting rotating speed then reduce the crawling moment of torsion, if whether the rotating speed of motor when setting rotating speed then increase the crawling moment of torsion, and rejudges the car load demand torque greater than the crawling moment of torsion.
Preferably, described setting rotating speed is specially the maximum speed of motor in level road crawling pattern.
Preferably, step 1) is specially and calculates the car load demand torque and fall to slip the torque responsive gradient of distance during for the S value.
The concrete steps of the torque responsive gradient when preferably, calculating the slide distance for the S value are:
Obtain new-energy automobile and fall to slip time t apart from S;
The gradient in the residing ramp of estimation automobile, and further estimate the automobile crawling moment of torsion that crawling needs on this ramp;
The calculated torque response gradient is T=KS/t, (K＞1).
Preferably, obtaining the concrete steps that new-energy automobile fall to slip apart from the time t of S comprises:
The opening timing device is judged that vehicle backing slips and whether is equaled S apart from S1, if then writing time t, then automobile continues to fall to slip if not.
Preferably, when electric system was in the crawling pattern, motor was controlled by speed closed loop.
The control method of the uphill starting of new-energy automobile provided by the invention comprises the torque responsive gradient when step 1) is calculated the car load demand torque and fall to slip distance for S or less than arbitrary value of S; 2) the crawling moment of torsion of adjustment motor, until whether the car load demand torque withdraws from crawling pattern greater than the crawling moment of torsion, response car load demand torque.
When using said method to carry out the uphill starting of automobile, start automobile rear motor system and directly enter the crawling pattern, when at first calculating vehicle backing and slipping distance for S or less than arbitrary value of S, needed torque responsive gradient, and then adjust the crawling moment of torsion of motor according to the torque responsive gradient, until final car load demand torque then withdraws from the crawling pattern greater than the crawling moment of torsion of motor, response car load demand torque, this moment, automobile stopped down slipping.Wherein fall to slip and to set according to the particular case of automobile apart from the value of S, need not to control by Slope Transducer or anti-slip regulation the distance of slipping of automobile in the method, and only make it finally less than the car load demand torque by the crawling moment of torsion of adjusting motor, distance was slipped in minimizing when automobile start to walk in the ramp.
In sum, the control method of the uphill starting of new-energy automobile provided by the present invention can make new-energy automobile in the situation that does not have Slope Transducer and anti-slip regulation, reduces the distance of falling to slip, and reduces the probability that crashes with rear car.
Description of drawings
In order to be illustrated more clearly in the technical scheme among the present invention, employed accompanying drawing was done simple the introduction during the below will describe embodiment, apparently, accompanying drawing in the following describes only is some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.
The diagram of circuit of the control method of the uphill starting of the new-energy automobile that provides in the embodiment of the invention is provided Fig. 1;
Fig. 2 is that electric system is at the scheme drawing of four quadrant operations;
The functional block diagram of the control method of the uphill starting of the new-energy automobile that provides in the embodiment of the invention is provided Fig. 3;
Fig. 4 is the output torque of automobile motor in uphill starting crawling process and the graph of a relation of time;
Fig. 5 is the rotating speed of automobile motor in uphill starting crawling process and the graph of a relation of time.
The specific embodiment
The object of the present invention is to provide a kind of control method of uphill starting of new-energy automobile, the control method of the uphill starting of this new-energy automobile can make new-energy automobile in the situation that does not have Slope Transducer and anti-slip regulation, reduce the distance of falling to slip, reduce the probability that crashes with rear car.
Below in conjunction with the accompanying drawing in the embodiment of the invention, the scheme in the embodiment of the invention is clearly and completely described, obviously, described embodiment only is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills belong to the scope of protection of the invention not making all other embodiment that obtain under the creative work prerequisite.
See also Fig. 1, the control method of the uphill starting of the new-energy automobile that the embodiment of the invention provides comprises the torque responsive gradient when step S1 calculates the car load demand torque and fall to slip distance for S or less than arbitrary value of S; S2 adjusts the crawling moment of torsion of motor, until the car load demand torque greater than the crawling moment of torsion, withdraws from the crawling pattern, and response car load demand torque.
When using said method to carry out the uphill starting of automobile, start automobile rear motor system and directly enter the crawling pattern, when at first calculating vehicle backing and slipping distance for S or less than arbitrary value of S, needed torque responsive gradient, and then adjust the crawling moment of torsion of motor according to the torque responsive gradient, until final car load demand torque then withdraws from the crawling pattern greater than the crawling moment of torsion of motor, response car load demand torque, this moment, automobile stopped down slipping.To be the automobile design personnel slip the value of choosing in the permissible range of distance according to the Vehicle preparation quality to the value apart from S of wherein fall slipping behind vehicle.Need not to control by Slope Transducer or anti-slip regulation the distance of slipping of automobile in the method, and only make it finally less than the car load demand torque by the crawling moment of torsion of adjusting motor, distance was slipped in minimizing when automobile start to walk in the ramp.
Preferably, can also comprise before step S1 step S0 judges whether motor operates in the second quadrant or fourth quadrant, if, enter step S1, if not, then adjust the crawling moment of torsion of motor, until the car load demand torque greater than the crawling moment of torsion, withdraws from the crawling pattern, response car load demand torque.Wherein, as shown in Figure 2, when the output torque of the motor of automobile for just, rotating speed is also for just, this moment, motor operated in first quartile, automobile is the smooth-riding surface starting that moves ahead; When the output torque of motor for just, rotating speed is for negative, this moment, motor operated in the second quadrant, automobile is the up gradient starting; The output torque of motor is for negative, and rotating speed is for negative, and this moment, motor operated in third quadrant, and automobile is the smooth-riding surface starting that falls back; The motor output torque is for negative, and rotating speed is for just, and this moment, motor operated in fourth quadrant, and automobile is started to walk for the reversing up gradient.Be the motor of automobile when the operation of the second quadrant or fourth quadrant, automobile belongs to the state of the starting of going up a slope.So at first execution in step S0 judges namely whether automobile belongs to the uphill starting state, and execution in step S1 operates after automobile is in the uphill starting state guaranteeing again, has avoided automobile not carry out the operation waste of S1 step when the uphill starting state.
In addition, adjust the crawling moment of torsion of motor among step S2 and the S0, until the car load demand torque greater than the crawling moment of torsion, withdraws from the crawling pattern, response car load demand torque can specifically comprise:
Whether judge the car load demand torque greater than the crawling moment of torsion,
If so, then withdraw from the crawling pattern, response car load demand torque;
If not, judge that then the rotating speed of motor of new-energy automobile is whether greater than setting rotating speed, if the rotating speed of motor is when setting rotating speed then reduce the crawling moment of torsion, if whether the rotating speed of motor when setting rotating speed then increase the crawling moment of torsion, and rejudges the car load demand torque greater than the crawling moment of torsion.
Need to prove that after the crawling of vehicle was vehicle launch, step on the accelerator not, vehicle be forward the mode of travelling slowly.Because vehicle belongs to automatic running, so the speed of a motor vehicle can not be too fast, motor speed can not be too fast, and this moment, vehicle was in the crawling pattern.And the crawling moment of torsion is the torque peak of vehicle motor under the crawling pattern.
When the car load demand torque is not more than the crawling moment of torsion, if the rotating speed of motor less than setting rotating speed then increase the crawling moment of torsion so that the car load demand torque is not more than the crawling moment of torsion all the time, namely the motor of new-energy automobile is in the crawling pattern all the time.
Preferably, set rotating speed and be specially the maximum speed of motor in level road crawling pattern.
Wherein in step S1, can calculate the car load demand torque and fall to slip the torque responsive gradient of distance during for the S value.The S value can specifically be set according to the gradient in the concrete model of automobile or the ramp of travelling, the ultimate range that the S value is slipped for vehicle backing, so directly calculate the car load demand torque and fall to slip the torque responsive gradient of distance during for S value, the slide that can avoid automobile is apart from greater than the S value.
Wherein, calculate slip the torque responsive gradient of distance during for the S value concrete steps can for:
Obtain new-energy automobile and fall to slip time t apart from S;
The gradient in the residing ramp of estimation automobile: sin θ ≈ S/gt
2And further estimate the crawling moment of torsion that automobile crawling on this ramp needs: T ≈ mg sin θ * r/i, wherein, m is the curb mass of vehicle, r vehicles roll radius, i are the car retardation ratio; As shown from the above formula, when the gradient in the residing ramp of estimation automobile, ignore the rolling resistance of vehicle and the friction drag in vehicle and ramp, and further draw the estimated value of crawling moment of torsion according to the estimated value of the gradient;
The calculated torque response gradient is T=KS/t, (K＞1).
Preferably, obtaining the concrete steps that new-energy automobile fall to slip apart from the time t of S comprises:
The opening timing device judges that vehicle backing slips apart from S
1Whether equal S, if then writing time t, then automobile continues slip if not.Wherein, because the ultimate range that the S value is slipped for vehicle backing, and S
1The distance of fall slipping for reality.Be S
1Be not more than S.At S
1When being not equal to S, namely new-energy automobile does not stop to slip car, needs to continue timing.
Wherein, when electric system was in the crawling pattern, motor was controlled by speed closed loop.Wherein, speed closed loop is controlled to be in the automation field, is expected value according to certain rotating speed of motor, by regulating other output parameters, motor speed is maintained on the expected value of this rotating speed.
Shown in Fig. 3-5, the crawling pattern of electric system can be divided into: crawling pattern and uphill starting crawling pattern are played in smooth-riding surface crawling pattern, transition slope, and crawling pattern in smooth-riding surface is the pattern of vehicle crawling on the smooth-riding surface; Uphill starting crawling pattern is the crawling pattern that vehicle enters after calculating the vehicle gradient; It is that vehicle is started to walk in the ramp that a crawling pattern is played on transition slope, the ramp also in calculating, the crawling pattern that enter this moment.Behind the automobile starting, electric system directly enters the crawling pattern, 0-t1 in the time period continuous detecting motor whether operate in the second quadrant, if judging the motor of automobile within this time period does not move at the second quadrant, be that automobile is not in the uphill starting state, this moment, motor straight tapped into into smooth-riding surface crawling pattern, and adjust the crawling moment of torsion of motor output, until the car load demand torque is greater than the crawling moment of torsion, then withdraw from the corresponding car load demand of crawling pattern, wherein in the process of the crawling moment of torsion of adjusting motor output, if the rotating speed of motor then increases the crawling moment of torsion of motor output greater than setting rotating speed, if the rotating speed of motor then reduces the crawling moment of torsion that motor is exported less than setting rotating speed, set rotating speed and refer to the maximum speed of motor in level road crawling pattern.
If at 0-t
1The continuous detecting motor operates in the second quadrant in time period, judge constantly that at t1 automobile is in the uphill starting state, this moment, electric system entered a transition slope crawling pattern, electric system is opened time meter, control simultaneously electric system and enter uphill starting crawling pattern, increase the crawling moment of torsion of electric system output, and the corresponding gradient of crawling moment of torsion be smooth-riding surface crawling pattern torque gradient K doubly, K〉1, wherein, the choosing of K value, mainly slipping required distance after to vehicle according to the designer sets, the curb mass of this parameter and vehicle is closely related, and along with the K value increases, the S value reduces.When the slide distance of accumulative total of automobile was S, be Δ t writing time, and the demand torque that calculates uphill starting is T ≈ mgS/g (t1 Δ t+ Δ t
2) * r/i, then adjust the crawling moment of torsion of electric system output, if the crawling moment of torsion is less than the demand torque of car load, then withdraw from the crawling pattern, the demand torque of response car load is if the crawling moment of torsion is greater than the demand torque of car load, if the rotating speed of motor then increases the crawling moment of torsion of motor output greater than setting rotating speed at this moment, if the rotating speed of motor then reduces the crawling moment of torsion that motor is exported less than setting speed, until the crawling moment of torsion is less than the demand torque of car load.Wherein, set rotating speed and refer to the maximum speed of motor in level road crawling pattern.
In addition, among Fig. 4, the ABCD section is smooth-riding surface crawling pattern, and the BE section is that the crawling pattern is played on the transition slope, and the EFG section is uphill starting crawling pattern.Wherein, crawling pattern in smooth-riding surface is the pattern of vehicle crawling on the smooth-riding surface; Uphill starting crawling pattern is the crawling pattern that vehicle enters after calculating the vehicle gradient; It is that vehicle is started to walk in the ramp that a crawling pattern is played on transition slope, the ramp also in calculating, the crawling pattern that enter this moment.
Each embodiment adopts the mode of going forward one by one to describe in this specification sheets, and what each embodiment stressed is and the difference of other embodiment that identical similar part is mutually referring to getting final product between each embodiment.For the disclosed device of embodiment, because it is corresponding with the disclosed method of embodiment, so description is fairly simple, relevant part partly illustrates referring to method and gets final product.
To the above-mentioned explanation of the disclosed embodiments, this area professional and technical personnel can realize or use the present invention.Multiple modification to these embodiment will be apparent concerning those skilled in the art, and General Principle as defined herein can in the situation that does not break away from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention can not be restricted to these embodiment shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (8)
1. the control method of the uphill starting of a new-energy automobile is characterized in that, comprises step:
1) calculating car load demand torque and the distance of falling to slip is S or the torque responsive gradient during less than arbitrary value of S;
2) the crawling moment of torsion of adjustment motor, until the car load demand torque greater than the crawling moment of torsion, withdraws from the crawling pattern, response car load demand torque.
2. the control method of the uphill starting of new-energy automobile according to claim 1 is characterized in that, also comprises step before the step 1):
Judge whether motor operates in the second quadrant or fourth quadrant, if so, enters step 1), if not, then adjust the crawling moment of torsion of motor, until the car load demand torque greater than the crawling moment of torsion, withdraws from the crawling pattern, response car load demand torque;
When motor operated in the second quadrant, the output torque of motor was for just, and rotating speed is for negative;
When motor operated in fourth quadrant, the output torque of motor was for negative, and rotating speed is for just.
3. the control method of the uphill starting of new-energy automobile according to claim 1 and 2 is characterized in that, adjusts the crawling moment of torsion of motor, until whether the car load demand torque withdraws from crawling pattern greater than the crawling moment of torsion, response car load demand torque specifically comprises:
Whether judge the car load demand torque greater than the crawling moment of torsion,
If so, then withdraw from the crawling pattern, response car load demand torque;
If not, judge that then the rotating speed of motor of new-energy automobile is whether greater than setting rotating speed, if the rotating speed of motor is when setting rotating speed then reduce the crawling moment of torsion, if whether the rotating speed of motor when setting rotating speed then increase the crawling moment of torsion, and rejudges the car load demand torque greater than the crawling moment of torsion.
4. the control method of the uphill starting of new-energy automobile according to claim 3 is characterized in that, described setting rotating speed is specially the maximum speed of motor in level road crawling pattern.
5. the control method of the uphill starting of new-energy automobile according to claim 1 is characterized in that, step 1) is specially to be calculated the car load demand torque and fall to slip the torque responsive gradient of distance during for the S value.
6. the control method of the uphill starting of new-energy automobile according to claim 5 is characterized in that, the concrete steps of the torque responsive gradient when calculating the slide distance for the S value are:
Obtain new-energy automobile and fall to slip time t apart from S;
The gradient in the residing ramp of estimation automobile, and further estimate the automobile crawling moment of torsion that crawling needs on this ramp;
The calculated torque response gradient is T=KS/t, (K＞1).
7. the control method of the uphill starting of new-energy automobile according to claim 6 is characterized in that, obtains the concrete steps that new-energy automobile fall to slip apart from the time t of S and comprises:
The opening timing device judges that vehicle backing slips apart from S
1Whether equal S, if then writing time t, then automobile continues slip if not.
8. the control method of the uphill starting of new-energy automobile according to claim 1 is characterized in that, when electric system was in the crawling pattern, motor was controlled by speed closed loop.
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| CN105799550A (en) * | 2014-12-29 | 2016-07-27 | 上海大郡动力控制技术有限公司 | Anti-hill-slip control method for battery electric vehicles |
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